version: 66.07
glider: 542
mission: 9
dive: 200
start: 1 13 115 18 48 53
data:
$ID,542
$MISSION,9
$DIVE,200
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,365
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53031
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00251332
$HD_B,0.0127788
$HD_C,1.44018e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-56
$TGT_DEFAULT_LON,0.1
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22228.232
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2930
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2342
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-53.02364
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,130115,183922,-5547.658,-110.760,41,1.0,41,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.4
$GPS2,130115,184759,-5547.645,-110.694,20,0.9,20,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.147,0.178
$KALMAN_X,132902.5,86.4,82.5,-206214.6,461.4
$KALMAN_Y,21286.5,262.7,265.4,1363.4,-2166.7
$MHEAD_RNG_PITCHd_Wd,59.1,12175,-17.2,-9.524
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,60,0.00,0.00,-41.78,0.000,2,0.000,0.000,46,2938,2424,0,0,0,0,0,0
$GC,62,-0.44,-146.1,3.2,-2.8,5,97,6.68,2.30,-16.20,0.000,4,0.249,0.054,1639,1511,2940,0,0,0,0,0,0
$GC,271,-0.44,-146.1,30.7,-13.7,37,278,0.00,2.33,0.00,0.000,6,0.000,0.056,1629,2923,2942,0,0,0,0,0,0
$GC,384,-0.44,-146.1,50.3,-17.7,56,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2923,2942,0,0,0,0,0,0
$GC,500,-0.44,-146.1,69.6,-17.0,75,507,0.00,1.60,0.00,0.000,4,0.000,0.061,1621,3896,2942,0,0,0,0,0,0
$GC,539,-0.44,-146.1,75.9,-16.6,81,546,0.00,1.55,0.00,0.000,6,0.000,0.032,1621,2898,2942,0,0,0,0,0,0
$GC,652,-0.44,-146.1,93.4,-14.8,100,658,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2897,2942,0,0,0,0,0,0
$GC,881,-0.44,-146.1,126.0,-13.7,125,885,0.00,1.67,0.00,0.000,4,0.000,0.059,1613,3910,2941,0,0,0,0,0,0
$GC,979,-0.44,-146.1,142.0,-15.0,133,988,0.08,1.52,0.00,0.000,6,0.173,0.031,1638,2922,2942,0,0,0,0,0,0
$GC,1305,-0.44,-146.1,185.0,-12.2,164,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2921,2942,0,0,0,0,0,0
$GC,1627,-0.44,-146.1,223.5,-12.0,194,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2921,2942,0,0,0,0,0,0
$GC,1961,-0.44,-146.1,263.3,-11.7,221,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2921,2942,0,0,0,0,0,0
$GC,2271,-0.44,-146.1,301.2,-12.4,236,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2921,2942,0,0,0,0,0,0
$GC,2581,-0.44,-146.1,338.4,-11.5,251,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2921,2942,0,0,0,0,0,0
$GC,2887,-0.44,-146.1,373.0,-10.9,266,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2921,2942,0,0,0,0,0,0
$GC,3197,-0.44,-146.1,406.6,-10.6,281,3201,0.00,1.62,0.00,0.000,4,0.000,0.061,1630,3902,2943,0,0,0,0,0,0
$GC,3242,-0.44,-146.1,411.8,-12.0,283,3246,0.00,1.48,0.00,0.000,6,0.000,0.031,1630,2942,2942,0,0,0,0,0,0
$GC,3575,-0.44,-146.1,450.3,-11.6,299,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2942,0,0,0,0,0,0
$GC,3883,-0.44,-146.1,487.3,-11.9,314,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2942,0,0,0,0,0,0
$GC,4193,-0.44,-146.1,523.7,-11.6,329,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2942,0,0,0,0,0,0
$GC,4503,-0.44,-146.1,559.9,-11.5,344,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2942,0,0,0,0,0,0
$GC,4811,-0.44,-146.1,595.4,-11.8,359,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2935,2943,0,0,0,0,0,0
$GC,5122,-0.44,-146.1,631.7,-11.6,374,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,5431,-0.44,-146.1,667.3,-11.4,389,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2942,0,0,0,0,0,0
$GC,5740,-0.44,-146.1,702.6,-11.3,404,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,6049,-0.44,-146.1,737.2,-10.9,419,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,6359,-0.44,-146.1,770.8,-10.8,434,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,6667,-0.44,-146.1,803.0,-10.3,449,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,6977,-0.44,-146.1,834.4,-10.2,464,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,7287,-0.44,-146.1,867.0,-10.3,479,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,7596,-0.44,-146.1,899.8,-10.7,494,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,7905,-0.44,-146.1,933.3,-11.0,509,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$GC,8215,-0.44,-146.1,967.5,-10.9,524,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2936,2943,0,0,0,0,0,0
$STATE,8522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8522,begin apogee
$GC,8527,-0.13,0.0,1000.5,10.5,539,8666,0.38,0.00,135.50,1.770,6,0.162,0.000,1739,2713,2342,0,0,0,0,0,0
$STATE,8666,end apogee,CONTROL_FINISHED_OK
$STATE,8667,begin climb
$GC,8669,0.44,146.1,1005.1,0.0,546,8825,0.65,0.00,148.50,1.718,6,0.124,0.000,1924,2713,1745,0,0,0,0,0,0
$GC,9133,0.44,146.1,953.7,12.5,569,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2713,1737,0,0,0,0,0,0
$GC,9443,0.44,146.1,914.9,12.7,584,9447,0.00,2.03,0.00,0.000,4,0.000,0.059,1925,3894,1735,0,0,0,0,0,0
$GC,9481,0.44,146.1,909.3,14.5,585,9488,0.00,1.90,0.00,0.000,6,0.000,0.035,1933,2729,1733,0,0,0,0,0,0
$GC,9797,0.44,146.1,865.8,13.8,601,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2729,1733,0,0,0,0,0,0
$GC,10106,0.44,146.1,824.6,13.0,616,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2729,1733,0,0,0,0,0,0
$GC,10416,0.44,146.1,784.3,13.1,631,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2728,1732,0,0,0,0,0,0
$GC,10725,0.44,146.1,744.8,13.2,646,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2729,1732,0,0,0,0,0,0
$GC,11035,0.44,146.1,706.3,12.6,661,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2729,1731,0,0,0,0,0,0
$GC,11343,0.44,146.1,668.0,12.7,676,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2729,1731,0,0,0,0,0,0
$GC,11653,0.44,146.1,628.3,13.0,691,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2729,1731,0,0,0,0,0,0
$GC,11963,0.44,146.1,586.8,13.6,706,11964,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2729,1731,0,0,0,0,0,0
$GC,12271,0.44,146.1,545.7,13.3,721,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2728,1731,0,0,0,0,0,0
$GC,12581,0.44,146.1,506.2,12.7,736,12585,0.00,1.95,0.00,0.000,4,0.000,0.059,1933,3891,1730,0,0,0,0,0,0
$GC,12628,0.44,146.1,499.7,14.7,738,12632,0.00,1.88,0.00,0.000,6,0.000,0.036,1942,2700,1730,0,0,0,0,0,0
$GC,12960,0.44,146.1,456.3,12.9,754,12961,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2700,1729,0,0,0,0,0,0
$GC,13270,0.44,146.1,415.8,13.1,769,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2699,1730,0,0,0,0,0,0
$GC,13580,0.44,146.1,376.2,12.7,784,13583,0.00,1.98,0.00,0.000,4,0.000,0.058,1942,3900,1730,0,0,0,0,0,0
$GC,13625,0.44,146.1,369.5,14.4,786,13629,0.00,1.88,0.00,0.000,6,0.000,0.035,1952,2705,1729,0,0,0,0,0,0
$GC,13958,0.44,146.1,324.0,13.7,802,13959,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2704,1729,0,0,0,0,0,0
$GC,14270,0.44,146.1,282.0,13.4,817,14271,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2705,1729,0,0,0,0,0,0
$GC,14577,0.44,146.1,243.1,12.4,834,14581,0.00,1.98,0.00,0.000,4,0.000,0.057,1952,3903,1729,0,0,0,0,0,0
$GC,14639,0.44,146.1,234.5,13.1,839,14647,0.00,1.90,0.00,0.000,6,0.000,0.034,1961,2708,1729,0,0,0,0,0,0
$GC,14965,0.44,146.1,194.4,12.7,870,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2708,1729,0,0,0,0,0,0
$GC,15285,0.44,146.1,155.6,12.7,900,15289,0.00,1.98,0.00,0.000,4,0.000,0.057,1961,3907,1729,0,0,0,0,0,0
$GC,15347,0.44,146.1,146.1,14.8,905,15356,0.10,1.90,0.00,0.000,6,0.194,0.034,1941,2711,1729,0,0,0,0,0,0
$GC,15674,0.44,146.1,112.0,9.9,936,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2710,1729,0,0,0,0,0,0
$GC,16006,0.45,151.1,79.9,9.3,984,16015,0.00,1.98,0.00,0.000,4,0.000,0.059,1941,3894,1729,0,0,0,0,0,0
$GC,16041,0.45,151.1,76.6,9.8,989,16048,0.00,1.88,0.00,0.000,6,0.000,0.034,1950,2715,1729,0,0,0,0,0,0
$GC,16154,0.45,152.1,65.7,9.5,1008,16162,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2714,1729,0,0,0,0,0,0
$GC,16269,0.45,155.0,55.0,9.4,1027,16277,0.00,0.00,4.22,0.731,6,0.000,0.000,1949,2714,1709,0,0,0,0,0,0
$GC,16383,0.45,157.7,44.2,9.4,1046,16392,0.00,0.00,1.77,0.291,6,0.000,0.000,1949,2714,1699,0,0,0,0,0,0
$GC,16499,0.46,170.1,33.4,9.0,1065,16515,0.00,1.95,8.15,0.813,4,0.000,0.057,1949,3910,1647,0,0,0,0,0,0
$GC,16553,0.46,170.1,27.8,10.7,1073,16562,0.00,1.92,0.00,0.000,6,0.000,0.036,1959,2711,1646,0,0,0,0,0,0
$GC,16638,0.46,170.1,19.0,11.0,1086,16646,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2711,1645,0,0,0,0,0,0
$GC,16721,0.46,170.1,10.5,9.9,1099,16730,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2710,1644,0,0,0,0,0,0
$STATE,16798,end climb,SURFACE_DEPTH_REACHED
$STATE,16798,begin surface coast
$FINISH,1.2,1.027102
$STATE,16836,end surface coast,CONTROL_FINISHED_OK
$STATE,16837,begin surface
$SM_CCo,16850,14.55,0.166,0,0,1524,200.16
$SM_GC,3.45,0.00,0.00,14.55,0.000,0.000,0.166,64,2945,1524,-5.40,0.42,200.16
$IRIDIUM_FIX,-5527.50,-112.81,130115,131352
$TT8_MAMPS,0.026964
$HUMID,57.36
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,22.0,40.657
$10V_AH,10.0,27.776
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.925,41.825,298.150,14.550,0.000,28.622,42.613,309.393,0.000,0.000,22.665,2673.001,11087.801,436.929,2938.563,240.392,33.365,1351.167,0.000,2391.520,0.000,0.540,0.000
$DEVICE_MAMPS,248.625,61.200,1770.210,166.005,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.483,2322.251,1125.610,1168.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353464
$DATA_FILE_SIZE,77013,1117
$CAP_FILE_SIZE,122122,0
$CFSIZE,259252224,213008384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130115,233135,-5546.566,-107.164,61,1.0,61,-19.6